可变形和脆弱的对象操纵:一个审查和前景
Yicheng Zhu1, David Yang1, Yangming Lee1
1RoCAL Laboratory, Rochester Institute of Technology, Rochester, NY 14623, USA.
Sensors (Basel, Switzerland)
|September 13, 2025
概括
自主机器人难以处理可变形物体 (DOM),特别是对于脆弱的物品. 本次审查突出了局限性,并提出了一个更安全,适应性机器人处理微妙物体的框架.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 材料科学 材料科学 材料科学
背景情况:
- 可变形物体操纵 (DOM) 对自主机器人至关重要,但具有挑战性,特别是在脆弱的物品上.
- 当前的DOM方法往往缺乏强大的安全功能和对微妙物体的实时适应性.
- 处理软组织或水果需要超越标准轨迹优化的专业方法.
研究的目的:
- 系统地审查DOM组件,以检查它们对脆弱对象的有效性.
- 确定现有的DOM方法论中关于脆弱性约束的局限性.
- 提出一个适应性框架,以安全和普遍处理敏感物品.
主要方法:
- 在DOM中对感知,感知,建模,规划和控制进行系统的审查.
- 对当前处理脆弱性能力的方法进行分析.
- 讨论一个新的框架,整合反射机制和全球优化.
主要成果:
- 确定了当前DOM对脆弱对象的方法的主要局限性.
- 现有的方法往往不能将脆弱性作为核心设计考虑因素.
- 一个有前途的框架,结合低延迟反射和全球优化被介绍.
结论:
- 脆弱对象的安全和适应性DOM需要解决特定的约束.
- 使用反射和全局优化策略的混合方法是有希望的.
- 对于涉及微妙物品的现实世界机器人应用,需要对自适应控制进行进一步的研究.
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